Cooperative processing for portable reading machine

ABSTRACT

A handheld device includes an image input device capable of acquiring images, circuitry to send a representation of the image to a remote computing system that performs at least one processing function related to processing the image and circuitry to receive from the remote computing system data based on processing the image by the remote system.

This application claims priority to and incorporates by reference in itsentirety, U.S. Provisional Patent Application No. 60/559,091, filed Apr.2, 2004 and entitled “Portable Reading Machines For Visually ImpairedPersons.”

BACKGROUND

Reading machines use optical character recognition (OCR) andtext-to-speech (TTS) i.e., speech synthesis software to read aloud andthus convey printed matter to visually and developmentally impairedindividuals. Reading machines read text from books, journals, and soforth.

Reading machines can use commercial off-the-shelf flat-bed scanners, apersonal computer and the OCR software. Such a reading machine allows aperson to open a book and place the book face down on the scanner. Thescanner scans a page from the book and the computer with the OCRsoftware processes the image scanned, producing a text file. The textfile is read aloud to the user using text-to-speech software.

SUMMARY

Reading can be viewed broadly as conveying content of a scene to a user.Reading can use optical mark recognition, face recognition, or any kindof object recognition. A scene can represent contents of an image thatis being read. A scene can be a memo or a page of a book, or it can be adoor in a hallway of an office building. The type of real-world contextsto “read” include visual elements that are words, symbols or pictures,colors and so forth.

According to an aspect of the present invention, a system for readingtext to a user includes a handheld device capable of acquiring imagesand sending a representation of the image to a computing system and acomputing system capable of communicating with the handheld device andperforming at least one processing function related to processing theimage.

The following are within the scope of the present invention.

The handheld device has mobile phone capability. The processing functionis text-to-speech processing. The processing function is opticalcharacter recognition processing that provides a text file which thecomputing device sends to the handheld device. The processing functionis optical character recognition processing that provides a text filewhich the computing device sends to the handheld device and wherein thehandheld device performs text-to-speech processing on the text file. Theprocessing function is optical character recognition processing. Theprocessing function is optical character recognition processing thatprovides a text file which the computing device sends to text-to-speechprocessing in the computing device and produces a speech file that issent to the handheld device.

According to an additional aspect of the present invention, a handhelddevice includes an image input device capable of acquiring images,circuitry to send a representation of the image to a remote computingsystem that performs at least one processing function related toprocessing the image and circuitry to receive from the remote computingsystem data based on processing the image by the remote system.

One or more aspects of the invention may provide one or more of thefollowing advantages.

For handheld devices with minimal processing capabilities cooperativeprocessing techniques can be used for more computationally intensiveprocessing such as image processing and text-to-speech processing. Forhandheld devices with TTS capability the processing system can returnrecognized text and meta-information back to the device and allow thetext to be navigated and read on the handheld device. Cooperativeprocessing can also include data sharing. The computing system can serveas the repository for the documents acquired by the user.

The details of one or more embodiments of the invention are set forth inthe accompanying drawings and the description below. Other features,objects, and advantages of the invention will be apparent from thedescription and drawings, and from the claims.

DESCRIPTION OF DRAWINGS

FIGS. 1-3 are block diagrams depicting various configurations for aportable reading machine.

FIGS. 1A and 1B are diagrams depicting functions for the reading machineFIG. 3A is a block diagram depicting a cooperative processingarrangement.

FIG. 3B is a flow chart depicting a typical processing flow forcooperative processing.

FIG. 4 is flow chart depicting mode processing.

FIG. 5 is a flow chart depicting document processing.

FIG. 6 is a flow chart depicting a clothing mode.

FIG. 7 is a flow chart depicting a transaction mode.

FIG. 8 is a flow chart for a directed reading mode.

FIG. 9 is a block diagram depicting an alternative arrangement for areading machine.

FIG. 10 is a flow chart depicting image adjustment processing.

FIG. 11 is a flow chart depicting a tilt adjustment.

FIG. 12 is a flow chart depicting incomplete page detection.

FIG. 12A is a diagram useful in understanding relationships in theprocessing of FIG. 12.

FIG. 13 is a flow chart depicting image decimation/interpolationprocessing for determining text quality.

FIG. 14 is a flow chart depicting image stitching.

FIG. 15 is a flow chart depicting text stitching.

FIG. 16 is a flow chart depicting gesture processing.

FIG. 17 is a flow chart depicting poor reading conditions processing.

FIG. 17A is a diagram showing different methods of selecting a sectionof an image.

FIG. 18 is a flow chart depicting a process to minimizing latency inreading.

FIG. 19 is a diagram diagrammatically depicting a structure for atemplate.

FIG. 20 is a diagram diagrammatically depicting a structure for aknowledge base.

FIG. 21 is a diagram diagrammatically depicting a structure for a model.

FIG. 22 is a flow chart depicting typical document mode processing.

DETAILED DESCRIPTION

Hardware Configurations

Referring to FIG. 1 a configuration of a portable reading machine 10 isshown. The portable reading machine 10 includes a portable computingdevice 12 and image input device 26, e.g. here two cameras, as shown.Alternatively, the portable reading machine 10 can be a camera withenhanced computing capability and/or that operates at multiple imageresolutions. The image input device, e.g. still camera, video camera,portable scanner, collects image data to be transmitted to theprocessing device. The portable reading machine 10 has the image inputdevice coupled to the computing device 12 using a cable (e.g. USB,Firewire) or using wireless technology (e.g. Wi-Fi, Bluetooth, wirelessUSB) and so forth. An example is consumer digital camera coupled to apocket PC or a handheld Windows or Linux PC, a personal digitalassistant and so forth. The portable reading machine 10 will includevarious computer programs to provide reading functionality as discussedbelow.

In general as in FIG. 1, the computing device 12 of the portable readingmachine 10 includes at least one processor device 14, memory 16 forexecuting computer programs and persistent storage 18, e.g., magnetic oroptical disk, PROM, flash Prom or ROM and so forth that permanentlystores computer programs and other data used by the reading machine 10.In addition, the portable reading machine 10 includes input and outputinterfaces 20 to interface the processing device to the outside world.The portable reading machine 10 can include a network interface card 22to interface the reading machine to a network (including the Internet),e.g., to upload programs and/or data used in the reading machine 10.

The portable reading machine 10 includes an audio output device 24 toconvey synthesized speech to the user from various ways of operating thereading machine. The camera and audio devices can be coupled to thecomputing device using a cable (e.g. USB, Firewire) or using wirelesstechnology (e.g. Wi-Fi, Bluetooth) etc.

The portable reading machine 10 may have two cameras, or video inputdevices 26, one for high resolution and the other for lower resolutionimages. The lower resolution camera may be support lower resolutionscanning for capturing gestures or directed reading, as discussed below.Alternatively, the portable reading machine may have one camera capableof a variety of resolutions and image capture rates that serves bothfunctions. The portable reading machine can be used with a pair of“eyeglasses” 28. The eyeglasses 28 may be integrated with one or morecameras 28 a and coupled to the portable reading machine, via acommunications link. The eyeglasses 26 provide flexibility to the user.The communications link 28 b between the eyeglasses and the portablereading machine can be wireless or via a cable, as discussed above. TheReading glasses 28 can have integrated speakers or earphones 28 c toallow the user to hear the audio output of the portable reading machine.

For example, in the transaction mode described below, at an automaticteller machine (ATM) for example, an ATM screen and the motion of theuser's finger in front of the ATM screen are detected by the readingmachine 10 through processing data received by the camera 28 a mountedin the glasses 28. In this way, the portable reading machine 10 “sees”the location of the user's finger much as sighted people would see theirfinger. This would enable the portable reading machine 10 to read thecontents of the screen and to track the position of the user's finger,announcing the buttons and text that were under, near or adjacent theuser's finger.

Referring to FIGS. 1A and 1B, processing functions that are performed bythe reading machine of FIG. 1 or the embodiments shown in FIGS. 2, 3 and9 includes reading machine functional processing (FIG. 1A) and imageprocessing (FIG. 1B).

FIG. 1A shows various functional modules for the reading machine 10including mode processing (FIG. 4), a directed reading process (FIG. 8),a process to detect incomplete pages (FIG. 12), a process to provideimage object re-sizing (FIG. 13), a process to separate print frombackground (discussed below), an image stitching process (FIG. 14), textstitching process (FIG. 15), conventional speech synthesis processing,and gesture processing (FIG. 16).

In addition, as shown in FIG. 1B, the reading machine 10 includes imagestabilization, zoom, image preprocessing, and image and text alignmentfunctions, as generally discussed below.

Referring to FIG. 2, a tablet PC 30 and remote camera 32 could be usedwith computing device 12 to provide another embodiment of the portablereading machine 10. The tablet PC would include a screen 34 that allowsa user to write directly on the screen. Commercially available tabletPC's could be used. The screen 34 is used as an input device forgesturing with a stylus. The image captured by the camera 34 may bemapped to the screen 30 and the user would move to different parts ofthe image by gesturing. The computing device 12 (FIG. 1) could be usedto process images from the camera based on processes described below. Inthe document mode described below, the page is mapped to the screen andthe user moves to different parts of the document by gesturing.

Referring to FIG. 3, the portable reading machine 10 can be implementedas a handheld camera 40 with input and output controls 42. The handheldcamera 40 may have some controls that make it easier to use the overallsystem. The controls may include buttons, wheels, joysticks, touch pads,etc. The device may include speech recognition software, to allow voiceinput driven controls. Some controls may send the signal to the computerand cause it to control the camera or to control the reader software.Some controls may send signals to the camera directly. The handheldportable reading machine 10 may also have output devices such as aspeaker or a tactile feedback output device.

Benefits of an integrated camera and device control include that theintegrated portable reading machine can be operated with just one handand the portable reading machine is less obtrusive and can be moreeasily transported and manipulated.

Cooperative Processing

Referring to FIG. 3A, an alternative arrangement 60 for processing datafor the portable reading device 10 is shown. The portable reading deviceis implemented as a handheld device 10″ that works cooperatively with acomputing system 62. In general, the computing system 62 has morecomputing power and more database storage 64 than the hand-held device10′. The computing system 62 and the hand held device 10′ would includesoftware 72, 74, respectively, for cooperative processing 70. Thecooperative processing 70 can enable the handheld device that does nothave sufficient resources for effective OCR and TTS to be used as aportable reading device by distributing the processing load between thehandheld device 10 and computing system 62. Typically, the handhelddevice communicates with the computing system over a dedicated wirelessconnection 66 or through a network, as shown.

An example of a handheld device is a mobile phone with a built-incamera. The phone is loaded with the software 72 to communicate with thecomputing system 62. The phone can also include software to implementsome of the modes discussed below such as to allow the user to directthe reading and navigation of resulting text, conduct a transaction andso forth. The phone acquires images that are forwarded and processed bythe computing system 62, as will now be described.

Referring to FIG. 3B, the user of the reading machine 10, as a phone,takes 72 a a picture of a scene, e.g., document, outdoor environment,device, etc., and sends 72 b the image and user settings to thecomputing system 62, using a wireless mobile phone connection 66. Thecomputing system 62 receives 74 a the image and settings information andperforms 74 b image analysis and OCR 74 c on the image. The computingsystem can respond 74 d that the processing is complete.

The user can read any recognized text on the image by using the mobilekeypad to send commands 72 c to the computer system 62 to navigate theresults. The computing system 62 receives the command, processes theresults according to the command, and sends 74 f a text file of theresults to a text to speech (TTS) engine to convert the text to speechand sends 74 g the speech over the phone as would occur in a phone call.The user can then hear 72 d the text read back to the user over thephone. Other arrangements are possible. For example, the computingsystem 62 could to supply a description of result of the OCR processingbesides the text that was found, could forward a text file to the device10′ and so forth.

The computing system 62 uses the TTS engine to generate the speech toread the text or announce meta-information about the result, such as thedocument type or layout, the word count, number of sections etc. Themanner in which a person uses the phone and to direct the processingsystem to read, announce and navigate the text shares some similaritywith the way a person may use a mobile phone to review, listen to andmanage voicemail.

The software for acquiring the images may additionally implement theless resource-intensive features of a standalone reading device. Forexample, the software may implement the processing of low resolution(e.g. 320×240) video preview images to determine the orientation of thecamera relative to the text, or to determine whether the edges of a pageare cut off from the field of view of the camera. Doing thepre-processing on the handheld device makes the preview process seemmore responsive to the user. In order to reduce the transmission timefor the image, the software may reduce the image to a black and whitebitmap, and compress it using standard, e.g., fax compressiontechniques.

For handheld devices with TTS capability the processing system canreturn the OCR'd text and meta-information back to the phone and allowthe text to be navigated and read on the handheld device. In thisscenario, the handheld device also includes software to implement thereading and text navigation.

The computing system 62 is likely to have one to two orders of magnitudegreater processing power than a typical handheld device. Furthermore,the computing system can have a much larger knowledge bases 64 for moredetailed and robust analysis. The knowledge bases 64 and software forthe server 62 can be automatically updated and maintained by a thirdparty to provide the latest processing capability.

Examples of the computing systems 62 include a desktop PC, a sharedserver available on a local or wide area network, a server on aphone-accessible network, or even a wearable computer.

A PDA with built-in or attached camera can be used for cooperativeprocessing. The PDA can be connected to a PC using a standard wirelessnetwork. A person may use the PDA for cooperative processing with acomputer at home or in the office, or with a computer in a facility likea public library. Even if the PDA has sufficient computing power to dothe image analysis and OCR, it may be much faster to have the computingsystem do the processing.

Cooperative processing can also include data sharing. The computingsystem can serve as the repository for the documents acquired by theuser. The reading machine device 10 can provide the functionality tonavigate through the document tree and access a previously acquireddocument for reading. For handheld devices that have TTS and can supportstandalone reading, documents can be loaded from the repository and“read” later. For handheld devices that can act as standalone readingdevices, the documents acquired and processed by on the handheld devicecan be stored in the computing system repository.

Mode Processing

Referring to FIG. 4, a process 110 for operating the reading machineusing modes is shown. Various modes can be incorporated in the readingmachine, as discussed below. Parameters that define modes are customizedfor a specific type of environment. In one example, the user specifies112 the mode to use for processing an image. For example, the user mayknow that he or she is reading a menu, wall sign, or a product containerand will specify a mode that is configured for the type of item that theuser is reading. Alternatively, the mode is automatically specified byprocessing of images captured by the portable reading machine 10. Also,the user may switch modes transiently for a few images, or select asetting that will persist until the mode is changed.

The reading machine accesses 114 data based on the specified mode from aknowledge base that can reside on the reading machine 10 or can bedownloaded to the machine 10 upon user request or downloadedautomatically. In general, the modes are configurable, so that theportable reading machine preferentially looks for specific types ofvisual elements.

The reading machine captures 116 one or several images of a scene andprocesses the image to identify 118 one or more target elements in thescene using information obtained from the knowledge base. An example ofa target element is a number on a door or an exit sign. Upon completionof processing of the image, the reading machine presents 120 results toa user. Results can include various items, but generally is a speech orother output to convey information to the user. In some embodiments ofmode processing 110, the reading machine processes the image(s) usingmore than one mode and presents the result to a user based on anassessment of which mode provided valid results.

The modes can incorporate a “learning” feature so that the user can save122 information from processing a scene so that the same context isprocessed easier the next time. New modes may be derived as variationsof existing modes. New modes can be downloaded or even shared by users.

Document Mode

Referring to FIG. 5, a document mode 130 is provided to read books,magazines and paper copy. The document mode 130 supports various layoutvariations found in memos, journals and books. Data regarding thedocument mode is retrieved 132 from the knowledge base. The documentmode 130 accommodates different types of formats for documents. Indocument mode 130, the contents of received 134 image(s) are compared136 against different document models retrieved from the knowledge baseto determine which model(s) match best to the contents of the image. Thedocument mode supports multi-page documents in which the portablereading machine combines 138 information from multiple pages into onecomposite internal representation of the document that is used in thereading machine to convey information to the user. In doing this, theportable reading machine processes pages, looking for page numbers,section headings, figures captions and any other elements typicallyfound in the particular document. For example, when reading a U.S.Patent, the portable reading machine may identify the standard sectionsof the patent, including the title, inventors, abstract, claims, etc.

The document mode allows a user to navigate 140 the document contents,stepping forward or backward by a paragraph or section, or skipping to aspecific section of the document or to a key phrase.

Using the composite internal representation of the document, theportable reading machine reads 142 the document to a user usingtext-to-speech synthesis software. Using such an internal representationallows the reading machine to read the document more like a sightedperson would read such a document. The document mode can output 144 thecomposite document in a standardized electronic machine-readable formusing a wireless or cable connection to another electronic device. Forexample, the text recognized by OCR can be encoded using XML markup toidentify the elements of the document. The XML encoding may capture notonly the text content, but also the formatting information. Theformatting information can be used to identify different sections of thedocument, for instance, table of contents, preface, index, etc. that canbe communicated to the user. Organizing the document into differentsections can allow the user to read different parts of the document indifferent order, e.g., a web page, form, bill etc.

When encoding a complex form such as a utility bill, the encoding canstore the different sections, such as addressee information, a summaryof charges, and the total amount due sections. When semantic informationis captured in this way, it allows the blind user to navigate to theinformation of interest. The encoding can capture the text formattinginformation, so that the document can be stored for use by sightedpeople, or for example, to be edited by a visually impaired person andsent on to a sighted individual with the original formatting intact.

Clothing Mode

Referring to FIG. 6, a clothing mode 150 is shown. The “clothing” modehelps the user, e.g., to get dressed by matching clothing based on colorand pattern. Clothing mode is helpful for those who are visuallyimpaired, including those who are colorblind but otherwise have normalvision. The reading machine receives 152 one or more images of anarticle of clothing. The reading machine also receives or retrieves 154input parameters from the knowledge base. The input parameters that areretrieved include parameters that are specific to the clothing mode.Clothing mode parameters may include a description of the pattern (solidcolor, stripes, dots, checks, etc.). Each clothing pattern has a numberof elements, some of which may be empty for particular patterns.Examples of elements include background color or stripes. Each elementmay include several parameters besides color, such as width (forstripes), or orientation (e.g. vertical stripes). For example, slacksmay be described by the device as “gray vertical stripes on a blackbackground,” or a jacket as “Kelly green, deep red and light blueplaid.”

The portable reading machine receives 156 input data corresponding tothe scanned clothing and identifies 158 various attributes of theclothing by processing the input data corresponding to the capturedimages in accordance with parameters received from the knowledge base.The portable reading machine reports 160 the various attributes of theidentified clothing item such as the color(s) of the scanned garment,patterns, etc. The clothing attributes have associated descriptions thatare sent to speech synthesis software to announce the report to theuser. The portable reading machine recognizes the presence of patternssuch as stripes or check by comparisons to stored patterns or usingother pattern recognition techniques. The clothing mode may “learn” 162the wardrobe elements (e.g. shirts, pants, socks) that havecharacteristic patterns, allowing a user to associate specific names ordescriptions with individual articles of clothing, making identificationof such items easier in future uses.

In addition to reporting the colors of the current article to the user,the machine may have a mode that matches a given article of clothing toanother article of clothing (or rejects the match as incongruous). Thisautomatic clothing matching mode makes use of two references: one is adatabase of the current clothes in the user's possession, containing adescription of the clothes' colors and patterns as described above. Theother reference is a knowledge base containing information on how tomatch clothes: what colors and patterns go together and so forth. Themachine may find the best match for the current article of clothing withother articles in the user's collection and make a recommendation.Reporting 160 to the user can be as a tactile or auditory reply. Forinstance, the reading machine after processing an article of clothingcan indicate that the article was “a red and white striped tie.”

Transaction Mode

Referring to FIG. 7, a transaction mode 170 is shown. The transactionmode 170 applies to transaction-oriented devices that have a layout ofcontrols, e.g. buttons, such as automatic teller machines (ATM),e-ticket devices, electronic voting machines, credit/debit devices atthe supermarket, and so forth. The portable reading machine 10 canexamines a layout of controls, e.g., buttons, and recognize the buttonsin the layout of the transaction-oriented device. The portable readingmachine 10 can tell the user how to operate the device based on thelayout of recognized controls or buttons. In addition, many of thesedevices have standardized layouts of buttons for which the portablereading machine 10 can have stored templates to more easily recognizethe layouts and navigate the user through use of thetransaction-oriented device. RFID tags can be included on thesetransaction-oriented devices to inform a reading machine 10, equippedwith an RFID tag reader, of the specific description of the layout,which can be used to recall a template for use by the reading machine10.

The transaction mode 170 uses directed reading (discussed below). Theuser captures an image of the transaction machine's user interface withthe reading machine, that is, causes the reading machine to receive animage 172 of the controls that can be in the form of a keypad, buttons,labels and/or display and so forth. The buttons may be true physicalbuttons on a keypad or buttons rendered on a touch screen display. Thereading machine retrieves 174 data pertaining to the transaction mode.The data is retrieved from a knowledge base. For instance, data can beretrieved from a database on the reading machine, from the transactiondevice or via another device.

Data retrieval to make the transaction mode more robust and accurate caninvolve a layout of the device, e.g., an automatic teller machine (ATM),which is pre-programmed or learned as a customized mode by the readingmachine. This involves a sighted individual taking a picture of thedevice and correctly identifying all sections and buttons, or amanufacturer providing a customized database so that the user candownload the layout of the device to the reading machine 10.

The knowledge base can include a range of relevant information. The modeknowledge base includes general information, such as the expected fonts,vocabulary or language most commonly encountered for that device. Theknowledge base can also include very specific information, such astemplates that specify the layout or contents of specific screens. ForATMs that use the touch-screen to show the labels for adjacent physicalbuttons, the mode knowledge base can specify the location andrelationship of touch-screen labels and the buttons. The mode knowledgebase can define the standard shape of the touch-screen pushbuttons, orcan specify the actual pushbuttons that are expected on any specifiedscreen.

The knowledge base may also include information that allows moreintelligent and natural sounding summaries of the screen contents. Forexample, an account balances screen model can specify that a simplesummary including only the account name and balance be listed, skippingother text that might appear on the screen.

The user places his/her finger over the transaction device. Usually afinger is used to access an ATM, but the reading machine can detect manykinds of pointers, such as a stylus which may be used with atouchscreen, a pen, or any other similar pointing device. The videoinput device starts 176 taking images at a high frame rate with lowresolution. Low resolution images may be used during this stage ofpointer detection, since no text is being detected. Using low resolutionimages will speed processing, because the low resolution images requirefewer bits than high resolution images and thus there are fewer bits toprocess. The reading machine processes those low resolution images todetect 178 the location of the user's pointer. The reading machinedetermines 180 what is in the image underlying, adjacent, etc. thepointer. The reading machine may process the images to detect thepresence of button arrays along an edge of the screen as commonly occursin devices such as ATMs. The reading machine continually processescaptured images.

If an image (or a series of images) containing the user's pointer is notprocessed 182, the reading machine processes 178 more images or caneventually (not shown) exit. Alternatively, the reading machine 10signals the user that the fingertip was not captured (not shown). Thisallows the user to reposition the fingertip or allows the user to signalthat the transaction was completed by the user.

If the user's pointer was detected and the reading machine hasdetermined the text under it, the information is reported 184 to theuser.

If the reading machine receives 186 a signal from the user that thetransaction was completed, then the reading machine 10 can exit themode. A timeout can exist for when the reading machine fails to detectthe user's fingertip, it can exit the mode.

A transaction reading assistant mode can be implemented on a transactiondevice. For example, an ATM or other type of transaction oriented devicemay have a dedicated reading machine, e.g., reading assistant, adaptedto the transaction device. The reading assistant implements the ATM modedescribed above. In addition to helping guide the user in pressing thebuttons, the device can read the information on the screen of thetransaction device. A dedicated reading assistant would have a properlycustomized mode that improves its performance and usability.

A dedicated reading machine that implements directed reading usestechnologies other than a camera to detect the location of the pointer.For example, it may use simple detectors based on interrupting lightsuch as infrared beams, or capacitive coupling.

Other Modes

The portable reading machine can include a “restaurant” mode in whichthe portable reading machine preferentially identifies text and parsesthe text, making assumptions about vocabulary and phrases likely to befound on a menu. The portable reading machine may give the userhierarchical access to named sections of the menu, e.g., appetizers,salads, soups, dinners, dessert etc.

The portable reading machine may use special contrast enhancingprocessing to compensate for low lighting. The portable reading machinemay expect fonts that are more varied or artistic. The portable readingmachine may have a learning mode to learn some of the letters of thespecific font and extrapolate.

The portable reading machine can include an “Outdoor Navigation Mode.”The outdoor mode is intended the help the user with physical navigation.The portable reading machine may look for street signs and buildingsigns. It may look for traffic lights and their status. It may giveindications of streets, buildings or other landmarks. The portablereading machine may use GPS or compass and maps to help the user getaround. The portable reading machine may take images at a faster rateand lower resolution process those images faster (do to low resolution),at relatively more current positions (do to high frame rate) to providemore “real-time” information such as looking for larger physicalobjects, such as buildings, trees, people, cars, etc.

The portable reading machine can include an “Indoor Navigation Mode.”The indoor navigation mode helps a person navigate indoors, e.g., in anoffice environment. The portable reading machine may look for doorways,halls, elevators, bathroom signs, etc. The portable reading machine mayidentify the location of people.

Other modes include a Work area/Desk Mode in which a camera is mountedso that it can “see” a sizable area, such as a desk (or countertop). Thereading portable reading machine recognizes features such as books orpieces of paper. The portable reading machine 10 is capable of beingdirected to a document or book. For example, the user may call attentionby tapping on the object, or placing a hand or object at its edge andissuing a command. The portable reading machine may be “taught” theboundaries of the desktop. The portable reading machine may becontrolled through speech commands given by the user and processed bythe reading machine 10. The camera may have a servo control and zoomcapabilities to facilitate viewing of a wider viewing area.

Another mode is a Newspaper mode. The newspaper mode may detect thecolumns, titles and page numbers on which the articles are continued. Anewspaper mode may summarize a page by reading the titles of thearticles. The user may direct the portable reading machine to read anarticle by speaking its title or specifying its number.

As mentioned above, radio frequency identification (RFID) tags can beused as part of mode processing. An RFID tag is a small device attachedas a “marker” to a stationary or mobile object. The tag is capable ofsending a radio frequency signal that conveys information when probed bya signal from another device. An RFID tag can be passive or active.Passive RFID tags operate without a separate external power source andobtain operating power generated from the reader device. They aretypically pre-programmed with a unique set of data (usually 32 to 128bits) that cannot be modified. Active RFID tags have a power source andcan handle much larger amounts of information. The portable reader maybe able to respond to RFID tags and use the information to select a modeor modify the operation of a mode.

The RFID tag may inform the portable reader about context of the itemthat the tag is attached to. For example, an RFID tag on an ATM mayinform the portable reader 10 about the specific bank branch orlocation, brand or model of the ATM. The code provided by the RFID mayinform the reader 10 about the button configuration, screen layout orany other aspect of the ATM. In an Internet-enabled reader, RFID tagsare used by the reader to access and download a mode knowledge baseappropriate for the ATM. An active RFID or a wireless connection mayallow the portable reader to “download” the mode knowledge base directlyfrom the ATM.

The portable reading machine 10 may have an RFID tag that is detected bythe ATM, allowing the ATM to modify its processing to improve theusability of the ATM with the portable reader.

Directed Reading

Referring now to FIG. 8, a directed reading mode 200 is shown. Indirected reading, the user “directs” the portable reading machine'sattention to a particular area of an image in order to allow the readingmachine to read that portion of the image to the user. One type ofdirected reading has the user using a physical pointing device(typically the user's finger) to point to the physical scene from whichthe image was taken. An example is a person moving a finger over abutton panel at an ATM, as discussed above. In another type of directedreading, the user uses an input device to indicate the part of acaptured image to read.

When pointing on a physical scene, e.g., using a finger, light pen, orother object or effect that can be detected via scanning sensors andsuperimposed on the physical scene, the directed reading mode 200 causesthe portable reading machine to capture 202 a high-resolution image ofthe scene on which all relevant text can be read. The high resolutionimage may be stitched together from several images. The portable readingmachine also captures 204 lower resolution images of the scene at higherframe rates in order to identify 206 in real-time the location of thepointer. If the user's pointer is not detected 208, the process caninform the user, exit, or try another image.

The portable reading machine determines 210 the correspondence of thelower resolution image to the high-resolution image and determines 212the location of the pointer relative to the high-resolution image. Theportable reading machine conveys 214 what is underneath the pointer tothe user. The reading machine conveys the information to the user byreferring to one of the high-resolution images that the reading machinetook prior to the time the pointer moved in front of that location. Ifthe reading machine times out, or receives 216 a signal from the userthat the transaction was completed then the reading machine 10 can exitthe mode.

The reading machine converts identified text on the portion of the imageto a text file using optical character recognition (OCR) technologies.Since performing OCR can be time consuming, directed reading can be usedto save processing time and begin reading faster by selecting theportion of the image to OCR, instead of performing OCR on the entireimage. The text file is used as input to a text-to-speech process thatconverts the text to electrical signals that are rendered as speech.Other techniques can be used to convey information from the image to theuser. For instance, information can be sent to the user as sounds ortactile feedback individually or in addition to speech.

The actual resolution and the frame rates are chosen based the availabletechnology and processing power. The portable reading machine maypre-read the high-resolution image to increase its responsiveness to thepointer motion.

Directed reading is especially useful when the user has a camera mountedon eyeglasses or in such a way that it can “see” what's in front of theuser. This camera may be lower resolution and may be separate from thecamera that took the high-resolution picture. The scanning sensors couldbe built into reading glasses described above. An advantage of thisconfiguration is that adding scanning sensors into the reading glasseswould allow the user to control the direction of scanning through motionof the head in the same way that a sighted person does to allow the userto use the glasses as navigation aids.

An alternate directed reading process can include the user directing theportable reading machine to start reading in a specific area of acaptured image. An example is the use of a stylus on a tablet PC screen.If the screen area represents the area of the image, the user canindicate which areas of the image to read.

In addition to the embodiments discussed above, portable scanners canalternatively be used to provide an image representation of a scene.Portable scanners can be a source of image input for the portable reader10. For example, handheld scanners that assemble an image as the scanneris moved across a scene, e.g., a page, can be used. Thus, the inputcould be a single image of a page or scene from a portable scanner ormultiple images of a page or scene that are “stitched” together toproduce an electronic representation of the page or scene in theportable reading machine. The multiple images can be stitched togetherusing either “image stitching” or “text stitching” for scanners orcameras having lower resolution image capture capability. The term“page” can represent, e.g., a rectilinear region that has text or marksto be detected and read. As such, a “page” may refer to a piece ofpaper, note card, newspaper page, book cover or page, poster, cerealbox, and so forth.

Reading Machine with Customized Hardware

Referring to FIG. 9, an alternative 230 of reading machine includes asignal processor 232 to provide image capture and processing. The signalprocessor 232 is adapted for Image Processing, optical characterrecognition (OCR) and Pattern Matching. Image processing, OCR andpattern matching are computationally intensive. In order to make Imageprocessing, OCR, and pattern matching faster and more accurate, theportable reader 10 use hardware that has specialized processors forcomputation, e.g., signal processor 232. The user controls the functionof the portable reading machine 230 using standard input devices foundon handheld devices, or by some of the other techniques described below.

The portable reading machine 10 can include a scanning array chip 231 toprovide a pocket-sized scanner that can scan an image of a full pagequickly. The reader may use a mobile phone or handheld computers basedon processors 232 such as the Texas Instruments OMAP processor series,which combines a conventional processor and a digital signal processor(DSP) in one chip. The portable reading machine 10 would include memory233 to execute in conjunction with the processor various functionsdiscussed below and storage 233 a to hold algorithms and software usedby the reading machine. The portable reading machine would include auser interface 234, I/O interfaces 235, network interfaces (NIC) 236 andoptionally a keypad and other controls.

The portable reader may also use an external processing subsystem 238plugged into a powered card slot (e.g. compact flash) or high speed I/Ointerface (e.g. USB 2.0) of the portable reader. The subsystem 238stores executable code and reference information needed for imageprocessing, OCR or pattern recognition, and may be pre-loaded or updateddynamically by the portable reader. The system could be the user's PC ora remote processing site, accessed through wireless technology (e.g.WiFi), located in any part of the world. The site may be accessed overthe Internet. The site may be specialized to handle time-consuming taskssuch as OCR, using multiple servers and large databases in order toprocess efficiently. The ability of the processing subsystem to hold thereference information reduces the amount of I/O traffic between the cardand the portable reader. Typically, the reader 10 may only need to sendcaptured image data to the subsystem once and then make many requests tothe subsystem to process and analyze the different sections of the imagefor text or shapes.

The portable reading machine 10 includes features to improve the qualityof a captured image. For instance, the portable reading machine coulduse image stabilization technology found in digital camcorders to keepthe text from becoming blurry. This is especially important for smallerprint or features and for the mobile environment.

The portable reading machine 10 can include a digital camera system thatuses a zoom capability to get more resolution for specific areas of theimage. The portable reading machine can use auto balancing or a range ofother image enhancement techniques to improve the image quality. Theportable reading machine could have special enhancement modes to enhanceimages from electronic displays such as LCD displays.

Image Adjusting

Referring to FIG. 10, various image adjusting techniques 240 are appliedto the image. For example, OCR algorithms typically require input imagesto be monochromatic with low bit resolution. In order to preserve therelevant text information, the process of converting the raw image to aform suitable for OCR usually requires that the image be auto-balancedto produce more uniform brightness and contrast. Rather thanauto-balance the entire image as one, the portable reading machine mayimplement an auto-balancing algorithm that allows different regions ofthe image to be balanced differently 242. This is useful for an imagethat has uneven lighting or shadows. An effective technique of removingregional differences in the lighting intensity is to apply 242 a a2-dimensional high pass filter to the color values of the image(converting each pixel into black or white), and apply 242 b a regionalcontrast enhancement that adjusts the contrast based on determinedregional distribution of the intensity.

Image rotation can dramatically improve the reading of a page by the OCRsoftware. The entire page can be rotated, or just the text, or just asection of the text. The angle of rotation needed to align the text maybe determined 244 by several techniques. The boundaries of the page ortext determine 244 a the angle of rotation needed. The page boundariesmay be determined by performing edge detection on the page. For text, itmay be most useful to look at the top and bottom edges to determine theangle.

The angle of rotation can also be determined using a Hough transform orsimilar techniques 244 b that project an image onto an axis at a givenangle (discussed in more detail below). Once the angle of rotation hasbeen determined, the image can be rotated 245.

The portable reading machine may correct 246 for distortion in the pageif the camera is tilted with respect to the page. This distortion isdetected 246 a by measuring the extent to which the page boundariesdeviate from a simple rectangular shape. The portable reading machinecorrects 246 b for the optical distortion by transforming the image torestore the page to a rectangular shape.

Camera Tilt

Referring to FIG. 11, the portable reading machine incorporates sensorsto measure the side-to-side and front-to-back tilt of the camerarelative to vertical. This information may be incorporated into a tiltadjustment process 260 for the image rotation determination process 244,discussed above.

The portable reader receives 262 data from sensors corresponding to thetilt of the camera and rotates 264 the image to undo the effect of thetilt. For example, if the portable reading machine takes a picture of adoor with sign on it, and the camera is tilted 20 degrees to the left,the image taken by the portable reading machine contains text tilted at20 degrees. Many OCR algorithms may not detect text at a tilt angle of20 degrees; hence, the sign is likely to be read poorly, if at all. Inorder to compensate for the limitations of the OCR algorithms, theportable reading machine 10 mathematically rotates the image andprocesses the rotated image using the OCR. The portable reading machineuses the determined tilt data as a first approximation for the anglethat might yield the best results. The portable reading machine receives266 a quality factor that is the number of words recognized by the OCR.The number of words can be determined in a number of ways, for example,a text file of the words recognized can be fed to a dictionary process(not shown) to see how many of them are found in the dictionary. Ingeneral, if that data does not yield adequate results, the portablereading machine can select 268 different rotation angles and determines266 which one yields the most coherent text.

A measurement of tilt is useful, but it is usually augmented by otherstrategies. For example, when reading a memo on a desk, the memo may notbe properly rotated in the field of view to allow accurate OCR. Thereading machine can attempt to estimate the rotation by several methods.It can perform edge detection on the image, looking for edge transitionsat different angles. The largest of the detected edges are likely to berelated to the boundaries of the memo page; hence, their angle in theimage provides a good clue as to what rotation of the page might yieldsuccessful OCR.

Selecting the best rotation angle can be determined using the Houghtransform or similar techniques 268 a. These techniques examine aprojection of the image onto an axis at a given angle. For purposes ofthis explanation, assume the color of the text in an image correspondsto a value of 1 and the background color corresponds to a value of 0.When the axis is perpendicular to the orientation of the text, theprojection yields a graph that that is has periodic amplitudefluctuations, with the peaks corresponding to lines of text and thevalleys corresponding to the gaps between. When the axis is parallel tothe lines of text, the resulting graph is smoother. Finding the anglesthat yield a high amplitude periodicity, one can provide a good estimatefor an angle that is likely to yield good OCR results. The spatialfrequency of the periodicity gives the line spacing, and is likely to bea good indicator of the font size, which is one of the factors thatdetermine the performance of an OCR algorithm.

Detecting Incomplete Pages

Referring to FIG. 12, a process 280 is shown to detect that part of apage is missing from the image, and to compute a new angle and conveyinstructions to the user to reposition or adjust the camera angle. Inone operational mode 280, the reading machine retrieves 282 from theknowledge base or elsewhere expected sizes of standard sized pages, anddetects 283 features of the image that represent rectangular objectsthat may correspond to the edges of the pages. The reading machinereceives 284 image data, camera settings, and distance measurements fromthe input device and/or knowledge base. The input device, e.g. a camera,can provide information from its automatic focusing mechanism thatrelates to the distance from the lens to the page 285.

Referring to FIG. 12A, the reading machine can compute the distance Dfrom the camera to a point on the page X using the input distancemeasurements. Using the distance D and the angle A between any otherpoint Y on the page and X, the distance between X and Y can be computedusing basic geometry, and also the distance between any two points onthe page. The reading machine computes 285 the distance D from thecamera to a point on the page X using the input distance measurements.

Returning to FIG. 12, the reading machine computes 286 the distances ofthe detected edges. The reading machine uses the measured distances ofthe detected edges and the data on standard sizes of pages to determine287 whether part of a page is missing.

For example, the reading machine can estimate that one edge is 11inches, but determines that the edge of a sheet perpendicular to the 11inch edge only measures 5 inches. The reading machine 10 would retrievedata from the knowledge base indicating that a standard size of a pagewith an 11 inch dimension generally accompanies an 8.5 inch dimension.The reading machine would determine directions 288 to move the inputdevice and signal 290 the user to move the input device to either theleft or right, up or down because the entire rectangular page is not inits field of view. The reading machine would capture another image ofthe scene after the user had reset the input device on the readingmachine and repeat the process 280. When the reading machine detectswhat is considered to be a complete page, process 280 exits and anotherprocess, e.g., a reading process, can convert the image using OCR intotext and then use speech synthesis to read the material back to a user.

In another example, the portable reading machine may find the topmostpage of a group of pages and identify the boundaries. The readingmachine reads the top page without being confused and reading thecontents of a page that is beneath the page being read, but has portionsof the page in the field of view of the image. The portable readingmachine can use grammar rules to help it determine whether adjacent textbelongs together. The portable reading machine can use angles of thetext to help it determine whether adjacent text belongs together. Theportable reading machine can use the presence of a relatively uniformgap to determine whether two groups of text are separatedocuments/columns or not.

Detecting Columns of Text

In order to detect whether a page contains text arranged in columns, theportable reading machine can employ an algorithm that sweeps the imagewith a 2-dimensional filter that detects rectangular regions of the pagethat have uniform color (i.e. uniform numerical value). The search forrectangular spaces will typically be done after the image rotation hasbeen completed and the text in the image is believed to be properlyoriented. The search for a gap can also be performed using theprojection of the image onto an axis (Hough transform) as describedearlier. For example, on a image with two columns, the projection of thepage onto an axis that is parallel to the orientation of the page willyield a graph that has a relatively smooth positive offset in the regioncorresponding to the text and zero in the region corresponding to thegap between the columns.

Object Re-sizing

One of the difficulties in dealing with real-world information is thatthe object in question can appear as a small part of an image or as adominant element of an image. To deal with this, the image is processedat different levels of pixel resolution. For example, consider textprocessing. Text can occur in an object in variety of font sizes. Forexample, commercially available OCR software packages will recognizetext in a digitized image if it is approximately 20 to 170 pixels inheight.

Referring to FIG. 13, an object re-sizing process 300 that re-sizes textto allow successful OCR is shown. The process receives 302 an image anddecides 304 if the text is too large or small for OCR. The Houghtransform, described above, can provide an estimate of text size. Thereading machine 10 may inform the user of the problem at this point,allowing the user to produce another image. The reading machine willattempt to re-size the image for better OCR as follows. If the text istoo small, the process can mathematically double the size of the imageand add in missing pixels using an interpolation 306 process. If thetext is too large, the process can apply decimation 308 to reduce thesize of the text. The process 300 determines decimation ratios by thelargest expected size of the print. The process 300 chooses decimationratios to make the software efficient (i.e. so that the characters areat a pixel height that makes OCR reliable, but also keeps it fast). Thedecimation ratios are also chosen so that there is some overlap in thetext, i.e., the OCR software is capable of recognizing the text in twoimages with different decimation ratios. This approach applies torecognition of any kind of object, whether objects such as textcharacters or a STOP sign.

Several different re-sizings may be processed at one time through OCR310. The process determines 312 the quality of the OCR on each image by,for example, determining the fraction of words in the text that are inits dictionary. Alternatively, the process can look for particularphrases from a knowledge base or use grammar rules to determine thequality of the OCR. If the text quality 316 passes, the process iscomplete, otherwise, more re-sizings may be attempted. If the processdetermines that multiple attempts at re-sizing have occurred 318 with noimprovement, the process may rotate 320 the image slightly and try theentire re-sizing process again.

Most algorithms that detect objects from the bitmap image havelimitations on the largest and smallest size of the object that they areconfigured to detect, and the angles at which the objects are expectedto appear. By interpolating 302 the image to make the smaller featuresrepresent more pixels, or decimating 304 the image to make largerobjects represent fewer pixels, or rotating 314 the image that ispresented to the detection algorithm, the portable reading machine canimprove its ability to detect larger or small instances of the objectsat a variety of angles.

The process of separating print from background includes identifyingframes or areas of print and using OCR to identify regions that havemeaningful print from regions that generate non-meaningful print (thatresult from OCR on background images). Language based techniques canseparate meaningful recognized text from non-meaningful text. Thesetechniques can include the use of a dictionary, phrases or grammarengines. These techniques will use methods that are based ondescriptions of common types of real-world print, such as signs orposters. These descriptions would be templates or data that were part ofa “modes” knowledge base supported by the reading machine, as discussedabove.

Image Stitching

Referring to FIG. 14, an image stitching process 340 is shown. Thereading machine 10 stitches multiple images together to allow largerscenes to be read. Image stitching is used in other contexts, such asproducing a panorama from several separate images that have someoverlap. The stitching attempts to transform two or more images to acommon image. The reading machine may allow the user to take severalpictures of a scene and may piece together the scene using mathematicalstitching.

Because the visually impaired person is not as able to control theamount of scene overlap that exists between the individual images, theportable reading machine may need to implement more sophisticatedstitching algorithms. For example, if the user takes two pictures of awall that has a poster on it, the portable reading machine, upondetecting several distinct objects, edges, letters or words in oneimage, may attempt to detect these features in the other image. In imagestitching process 340, the portable reading machine 10 captures 341 afirst image and constructs 342 a template from the objects detected inthe first image of the series of images. The image stitching processcaptures 343 a larger second image by scanning a larger area of theimage than would typically be done, and allows for some tilt in theangle of the image. The image stitching process 340 constructs 345 asecond template from detected objects in the second image. The imagestitching process 340 compares the templates to find common objects 346.If common objects are found, the image stitching process associates 348the detected common objects in the images to mathematically transformand merge 350 the images together into a common image.

Text Stitching

For memos, documents and other scenes, the portable reading machine maydetermine that part of the image has cut off a frame of text, and canstitch together the text from two or more images. Referring to FIG. 15,a text stitching process 360 is shown. Text stitching is performed ontwo or more images after OCR 362. The portable reading machine 10detects and combines (“stitches”) 363 common text between the individualimages. If there is some overlap between two images, one from the leftand one from the right, then some characters from the right side of theleft image are expected to match some characters from the left side ofthe right image. Common text between two strings (one from the left andone from the right) can be detected by searching for the longest commonsubsequence of characters in the strings. Other algorithms can be used.A “match measure” can also be produced from any two strings, based onhow many characters match, but ignoring, for example, the mismatchesfrom the beginning of the left string, and allowing for some mismatchedcharacters within the candidate substring (due to OCR errors). Themachine 10 can produce match measures between all strings in the twoimages (or all strings that are appropriate), and then use the bestmatch measures to stitch the text together from the two images. Theportable reading machine 10 may stitch together the lines of text orindividual words in the individual images.

The portable reading machine uses text stitching capability and feedbackto the user to combine 363 text in two images. The portable readingmachine will determine 364 if incomplete text phrases are present, usingone or more strategies 365. If incomplete text phrases are not presentthen the text stitching was successful. On the other hand, if theportable reading machine detected incomplete text phrases, the portablereading machine signals 366 the user when incomplete text phrases aredetected, to cause the user to move the camera in a direction to capturemore of one or more of the images.

For example, the text stitching process 360 can use some or all of thefollowing typical strategies 365. Other strategies could also be used.If the user takes a picture of a memo, and some of the text lies outsidethe image, the text stitching process 360 may detect incomplete text bydetermining 365 a that text is very close to the edge of the image (onlywhen there is some space between text and the edge of the image is textassumed to be complete). If words at the edge of the image are not inthe dictionary, then it is assumed 365 b that text is cut off. The textstitching process 360 may detect 365 c occurrences of improper grammarby applying grammar rules to determine whether the text at the edge ofthe image is grammatically consistent with the text at the beginning ofthe next line. In each of these cases, the text stitching process 360gives the user feedback to take another picture. The portable readingmachine captures 368 new data and repeats text stitching process 360,returning to stitch lines of text together and/or determine ifincomplete text phases were detected. The text stitching process 360 inthe portable reading machine 10 combines the information from the twoimages either by performing text stitching or by performing imagestitching and re-processing the appropriate section of the combinedimage.

Gesturing Processing

In gesturing processing, the user makes a gesture (e.g. with the user'shand) and the reading machine 10 captures the gesture and interprets thegesture as a command. There are several ways to provide gestures to thereading machine, which are not limited to the following examples. Thereading machine may capture the motion of a user's hand, or otherpointing device, with a video camera, using high frame rates to capturethe motion, and low resolution images to allow faster data transfer andprocessing. A gesture could also be captured by using a stylus on atouch screen, e.g., circling the area of the image on the screen thatthe user wishes to be read. Another option is to apply sensors to theuser's hand or other body part, such as accelerometers or positionsensors.

Referring to FIG. 16, gesturing processing 400 is shown. Gesturingprocessing 400 involves the portable reading machine capturing 402 thegesturing input (typically a series of images of the user's hand). Thegesturing processing applies 404 pattern-recognition processing to thegesturing input. The gesturing processing detects 406 a set ofpre-defined gestures that are interpreted 408 by the portable readingmachine 10, as commands to the machine 10.

The gesturing processing 400 will operate the reading machine 10according to the detected gesture. For example, upon scanning a sceneand recognizing the contents of the scene using processing describedabove, the portable reading machine 10 receives input from the userdirecting the portable reading machine 10 to read user defined portionsof the scene or to describe to the user, user defined portion of thescene. By default, the reading machine starts, e.g., reading at thebeginning of the scene and continues until the end. However, based ongesture input from the user, the reading machine may skip around thescene, e.g. to the next section, sentence, paragraph, and so forth. Whenthe scene is mapped to a template, gesturing commands (or any kinds ofcommands) can be used to navigate to named parts of the template. Forexample, if an electricity bill is being read by the reading machine 10,the reading machine 10 uses the bill template and a command can be usedto direct the reading machine to read the bill total. The readingmachine 10 may spell a word or change the speed of the speech, at thedirection of the user. Thus, the reading machine can receive input fromthe user from, e.g., a conventional device such as a keypad or receivesa more advanced input such as speech or an input such as gesturing.

Physical Navigation Assistance

The portable reading machine 10 allows the user to select and specify afeature to find in the scene (e.g. stairs, exit, specific street sign ordoor number). One method to achieve this is through speech input. Forexample, if the user is in a building and looking for an exit, the usermay simply speak “find exit” to direct the portable reading machine tolook for an item that corresponds to an “exit sign” in the scene andannounce the location to the user.

The usefulness of the portable reading machine 10 in helping the usernavigate the physical environment can be augmented in several ways. Forinstance, the portable reading machine 10 will store in a knowledge basea layout of the relevant building or environment. Having thisinformation, the portable reading machine 10 correlates features that itdetects in the images to features in its knowledge base. By detectingthe features, the portable reading machine 10 helps the user identifyhis/her location or provide information on the location of exits,elevators, rest rooms, etc. The portable reading machine may incorporatethe functionality of a compass to help orient the user and help innavigation.

Poor Reading Conditions

Referring to FIG. 17, processing 440 to operate the reading machineunder poor reading conditions is shown. The portable reading machine 10may give the user feedback if the conditions for accurate reading arenot present. For example, the portable reading machine 10 determines 442lighting conditions in a captured image or set of images. The readingmachine 10 determines lighting conditions by examining contrastcharacteristics of different parts of the image. Such regional contrastof an image is computed by examining a distribution of light intensitiesacross a captured image. Regions of the captured image that have poorcontrast will be characterized by a relatively narrow distribution oflight intensity values compared to regions of good contrast.

Poor contrast may be present due to lighting that is too dim or toobright. In the case of dim lighting, the mean value of the lightintensity will be low; in the case of excessive lighting, the mean valueof the light intensity will be high. In both cases, the distribution oflight intensities will be lower than under ideal lighting conditions.

The portable reading machine can also look for uneven lightingconditions by examining the brightness in different regions of theimage. An important condition to detect in the captured image is thepresence of glare. Digital video sensors do not have the same dynamicrange as the human eye, and glare tends to saturate the image and bluror obscure text that may be present in the image. If the portablereading machine detects a region of the image, such as a rectangularregion that may correspond to a page, or a region that has text, and theportable reading machine detects that part or all of that region is verybright, it may give the user feedback if it cannot detect text in thatregion.

If poor contrast conditions or uneven lighting conditions are present,the machine 10 would have detected poor lighting conditions 744. Theportable reading machine can give the user feedback 750 as to whetherthe scene is too bright or dark.

The portable reading machine may also detect 746 and report 748incomplete or unreadable text, using the same strategies listed above,in 365 (FIG. 15).

For memos, documents and other scenes that have rectangularconfigurations containing text, the portable reading machine maydetermine 749 that part of the text has been cut off and inform the user750, e.g., using the same techniques as described above in FIG. 12.

The portable reading machine can determine if text is too small. If theportable reading machine identifies the presence of evenly spaced linesusing the methodology described previously, but is unable to perform OCRthat yields recognizable words and grammar, the portable reading machinecan notify 750 the user. Other possible conditions that lead to poorreading include that the text is too large.

Describe Scene to User

On a surface with multiple pages (rectangular objects) the device may“describe” the scene to the user. The description may be speech or anacoustic “shorthand” that efficiently conveys the information to theuser. Door signs, elevator signs, exit signs, etc. can be standardizedwith specific registration marks that would make it easier to detect andalign their contents.

Coordinates

The portable reading machine may specify the location of identifiedelements in two or three dimensions. The portable reading machine maycommunicate the location using a variety of methods including (a) two orthree dimensional Cartesian coordinates or (b) angular coordinates usingpolar or spherical type coordinates, or (c) a clock time (e.g. 4 pm) anda distance from the user.

The portable reading machine may have an auditory signaling mode inwhich visual elements and their characteristics that are identified arecommunicated by an auditory signal that would quickly give theindividual information about the scene. The auditory signaling mode mayuse pitch and timing in characteristic patterns based on what is foundin the scene. The auditory signaling mode may be like an auditory “signlanguage.” The auditory signaling mode could use pitch or relativeintensity to reflect distance or size. Pitch may be used to indicatevertical position of light or dark. The passage of time may be used toindicate horizontal position of light or dark. More than one pass overthe visual scene may be made with these two dimensions coded as pitchand time passage. The auditory signaling mode may use a multi-channelauditory output. The directionality of the auditory output may be usedto represent aspects of the scene such as spatial location and relativeimportance.

Tactile Signaling

Information can be relayed to the user using a tactile feedback device.An example of such a device is an “Optacon” (optical to tactileconverter).

Text and Language Information

The device can operate with preferred fonts or font styles, handwritingstyles, spoken voice, a preferred dictionary, foreign language, andgrammar rules.

Reading Voices

The reading machine may use one voice for describing a scene and adifferent-sounding voice for reading the actual text in a scene. Thereading machine may use different voices to announce the presence ofdifferent types of objects. For example, when reading a memo, the textof the memo may be spoken in a different voice than heading or the pagelayout information.

Selecting a Section of an Image

Referring to FIG. 17A, a number of techniques for selecting a section ofan image to process 800 are shown. As previously discussed, the user canselect 800 a section of the image for which they want to hear the textread, in a variety of ways, such as referring to where the text lies 810in the layout (“geographic”), or referring to an element of a template820 that maps the image (“using a template”). Both the geographic andtemplate types of selection can be commanded by a variety of userinputs: pointing, typing, speaking, gesturing, and so on, each of whichis described.

The example of the geographic type of selecting a section of an image isthe idea of the user pressing an area of a touchscreen 811, which isshowing the image to be processed. The area under the user's finger, andnear it, is processed, sent to OCR, and the resulting text, if any, isread to the user. This can be useful for a person of low vision, who cansee that the image has been correctly captured, for example, theirelectricity bill, but cannot read the text in the image, and simplywants to know the total due. The method is also useful for those who arecompletely blind, in order to quickly navigate around an image. Sendingonly a part of the image to OCR can also save processing time, if thereis a lot of text in the image (see section below on minimizing latencyin reading). Thus, being able to select a section of an image toprocess, whether to save latency time for reading, or provide betteruser access to the text, is a useful feature.

Other examples of the geographic type of selection include the detectionof a finger in a transaction mode 812 (e.g. at an ATM), as previouslydiscussed. Note that a pen or similar device can be used instead of afinger, either in the transaction mode or when using a touchscreen. Thereading machine can provide predefined geographic commands, such as“read last paragraph.” These predefined commands could be made by theuser with a variety of user inputs: a gesture 813 that is recognized tomean the command; typed input 814; a pre-defined key 815 on the device;and speech input 816. For example, a key on the device could cause, whenpressed, the last paragraph to be read from the image. Other keys couldcause other sections of the image to be read. Other user inputs arepossible.

Templates 820 can be used to select an section of the image to process.For example, at an ATM, a template 820 can be used to classify differentparts of the image, such as the buttons or areas on the ATM screen.Users can then refer to parts of the template with a variety of inputs.For example, a user at an ATM could say 821 “balance,” which wouldaccess the template for the current ATM screen, find the “balance” fieldof the template, determine the content of the field to see where to readthe image, and read that part of the image (the bank balance) to theuser. There are a variety of user commands that can access a template:speech input 821 (the last example), a pre-defined key 822 on thedevice, typed input 823, and a gesture command 824 that is pre-definedto access a template. Other user inputs are possible.

Minimizing Latency in Reading

Referring to FIG. 18, a technique 500 to minimize latency in readingtext from an image to a user is shown. The technique 500 performs piecesof both optical character recognition and text to speech synthesis atthe same time to minimize latency in reading text on a captured image toa user. The reading machine 10 captures 501 an image and calls 502 theoptical character recognition software. The process will scan a firstsection of the image. When the optical character recognition softwarefinds 506 a threshold number of the words on the section of the image,typically, ten to twenty words, the technique 500 causes the readingmachine to send 508 the recognized words to a text to speech synthesizerto have the text to speech synthesizer read 510 the words to the user.That is, the technique 500 processes only a part of the image (typicallythe top of the image) and sends 508 partial converted text to the speechsynthesizer, rather than processing the complete image and sending thecomplete converted text to the speech synthesizer. As optical characterrecognition processing to find words in an image is typically more CPUintensive than “reading” the words using the text-to-speech (TTS)software, technique 500 minimizes latency, e.g., the time from when animage is captured, to the time when speech is received by the user.

The processing 500 checks if there are more sections in the image 512,and if so selects the next image 514 and thus calls OCR processing 502for the next portion of the image, and sending partial converted text tothe speech synthesizer, so on, until there are no more sections to berecognized by the OCR processing and the process 500 exits. In this way,the device can continually “read” to the user with low latency and nosilences.

Different pieces of the image can be processed in different orders. Thesimplest traversal order is to start at the top of the image and workdown, and this is how a typical digital camera would send pieces of theimage. Image pieces can also be selected by the user, as previouslydescribed, e.g., by: pressing on a corresponding part of a touch screen;using a gesture to describe a command that selects part of the image;speech input (e.g. “read last paragraph”), typed input, and so on.Images pieces can also be selected with the use of a template, aspreviously described, and a variety of user input. For example, if atemplate was mapped to the image, the user might use verbal commands toselect a part of the template that maps to part of the image, causingthe reading machine 10 to process that part of the image.

Another way that the reading machine can save time is by checking fortext that is upside down. If the software finds 506 a low number ofwords recognized, it may change the image orientation by 180 degrees andOCR that. If that produces enough words to surpass the threshold, thenthe reading machine 10 will process all remaining sections of the imageas upside down, thus saving time for all future sections of that image.

Templates

Referring to FIG. 19, a template is shown. A template provides a way toorganize information, a kind of data structure with several fields. Eachfield has a name and the associated data for that field (the contents).The template for a document could describe the sections of the document:the body text, chapter title, and footer (e.g. page number). Thetemplate for an ATM could have a field for each button and each sectionof the screen. Templates are used to organize the information in animage, such as the buttons and text on an ATM machine. Templates alsospecify a pattern, such that templates can be used in pattern matching.For example, the reading machine 10 could have a number of templates fordifferent kinds of ATMs, and could match the image of an ATM with itstemplate based on the layout of buttons in the image.

Templates may contain other templates. For example, a more generaltemplate than just described for the page of a book would containchapter title, footer, and body, where the contents for the body fieldreference several options for the body, such as a template for the tableof contents, a template for plain text, a template for an index, and soforth. The document template could contain rules that help choose whichbody template to use. Thus, templates can contain simple data, complexdata such as other templates, as well as rules and procedures.

Knowledge Base

Referring to FIG. 20, a knowledge base is shown. A knowledge base in thereading machine 10 stores information about a particular function of thereading machine 10, such as a mode (e.g. document mode or clothingmode), or a type of hardware (e.g. a camera and its settings), or imageprocessing algorithms. The knowledge base is a collection of referencedata, templates, formulas and rules that are used by the portablereader. The data in a knowledge base (or set of knowledge bases),together with algorithms in the reading machine 10 are used to carry outa particular function in the reading machine 10. For example, aknowledge base for document mode could include all the documenttemplates (as previously discussed), the rules for using the differenttemplates, and a model of document processing. A knowledge base forusing an ATM would include all the templates for each screen, plus therules and other knowledge needed for handling ATMs. The knowledge basesmay be hierarchical. For example, one knowledge base helps the readerdevice determine the most appropriate knowledge base to use to processan image.

Model

Referring to FIG. 21, a model describes an organization of data andprocedures that model (or produce a simplified imitation of) someprocess. A model provides a framework for dealing with the process. Amodel ties together the necessary knowledge bases, rules, procedures,templates and so on, into a framework for dealing with the mode orinteraction or process.

In document mode, the reading machine 10 has a model of how to read adocument to the user. A document speed-reading model may collecttogether rules that read only the section title and first paragraph fromeach section, and skip the reading of page numbers, whereas otherdocument reading models may collect different reading rules.

The model may be stored in a knowledge base, or the software for themodel processing may be implicit in the software of the reading machine10.

A model may be used to help stitch together the content from multipleimages with a common theme or context.

Model-based Reading and Navigation

When reading a document or a memo, a sighted person will typically readthe elements in a particular order, sometimes skipping sections andcoming back to re-read or fill in information later.

A model may specify the order in which sections of a document are readby the reading machine 10, or which sections are to be read. A model mayspecify the order in which the user navigates between the sections whentabbing or paging. A model may specify how the contents of the model aresummarized. For example, the model of a nutrition label may define abrief summary to be the fat, carbohydrate and protein measurements. Amore detailed summary may include a breakdown of the fats andcarbohydrates.

Typically, the models are specified as in a database as rules or datathat are interpreted by a software module. However, the rules and datafor a models or templates may also be coded directly in the software, sothat the model or template is implicit in the software.

Although reading rules are most applicable to printed text and graphics,they can also be applied to reading signs, billboards, computer screensand environmental scenes.

Learning

The reader device is configured so that the reading machine learnseither during operation, under direction of the user, or by uploadingnew libraries or knowledge bases. The reader may be trained from actualimages of the target element. For example, the reader device may betrained for face recognition on images of an individual, or forhand-writing recognition from writing samples of an individual. Thelearning process may be confirmed using an interactive process in whicha person confirms or corrects some of the conclusions reached by thedevice. For example, the device may be able to learn a font used in arestaurant menu by reading some parts that the user can understand andconfirm.

The reader device may learn new fonts or marks by making templates froma received image. The learning process for a font may include a personreading the text to the device. The reader device uses speechrecognition to determine the words and tries to parse the image to findthe words and learn the font. In addition to speech input, the readerdevice may take the text information from a file or keyboard.

Sharing of Knowledge Bases

The reader device is configured so that users can import or exportknowledge bases that augment existing modes or produce new modes. Thereading machine may be a platform that fosters 3^(rd)-party developmentof new applications.

Translation

The device may be able to read text in one language (or multiplelanguages) and translate to another language that is “read” to the user.

Other Uses

A user may quickly snap images of a series of single or multi-pagedocuments, optionally attaching voice notes to them. The user can listento the documents at a later date. The device can pre-process the imagesto do the OCR so that the user can then quickly review the documentslater.

The user may snap a picture of the pages of a book or magazine. Thedevice may be set up to skip reading of the title on the top of eachpage, or to suppress reading the page numbers when reading to the user.

Voice recognition for finding stored materials

Images or OCR-processed documents may be stored for later recall. Avoice note or file name may be specified for the document. The systemmay allow an interactive search for the stored files based on the storedvoice note or on the title or contents of the document.

The user can specify the file name, or may specify the keywords. Thesystem specifies how many candidate files were found and may read theirnames and/or attached voice notes to the user.

Process Flow Overview

Referring to FIG. 22, an example 500 of the process flow of a documentmode is shown. The templates, layout models, and rules that support themode are retrieved from a Mode Knowledge base 501. The user causes thereading machine to capture 502 a color or grayscale image of a scenehaving the document of interest. The user accomplishes this by using thedevice's camera system to capture consecutive images at differentexposure settings, to accommodate situations where differences in lightconditions cause a portion of the image to be under or over exposed. Ifthe device detects low light conditions, it may use a light toilluminate the scene.

The device processes 504 the image with the goal of segmenting the imageinto regions to start reading text to the user before the entire imagehas been processed by OCR.

One step is to color and contrast balance the images using centerweighted filtering. Another step is to parse the image into blockregions of monochromatic and mixed content. Another step uses decimationof the image to lower resolution to allow the reading machine toefficiently search for large regions of consistent color or brightness.Another step includes mapping colors of individual regions to dark orlight to produce grayscale images. Another step would produce binaryimages using adaptive thresholding that adjusts for local variations incontrast and brightness. More than one type of enhancement may beperformed, leading to more than one output image. The reading machinemay search for characteristic text or marks in standardized areas of thedocument frame.

The reading machine provides 505 the user auditory feedback on thecomposition of the image. The feedback may include indication of whetherthe lighting level is too low to detect any regions that might havetext. Also, the feedback includes an indication of whether a primaryrectangular region (likely to be the document frame) has been detected.The reading machine can also provide feedback describing the template orlayout pattern that the document matches.

The reading machine can include a feature that allows the user to directthe device to select 507 what region(s) to read. This navigation may bethrough a keypad-based input device or through speech navigation. If theuser does not specify a region, the device automatically selects 506which region(s) of the image to process. The selection is based on thelayout model that has been chosen for the document. For a memo layoutmodel, the selected regions typically start with a summary of theFrom/To block. For a book, the selected regions are usually limited tothe text, and possibly the page number. The titles are typically skipped(except for the first page of a chapter).

The section of the image may undergo additional processing 508 prior toproducing a binary or grayscale image for OCR. Such additionalprocessing includes text angle measurement or refinement andcontrast/brightness enhancement using filters chosen based on the sizeof the text lines. The image region is “read” 510 using OCR. The regionmay also look for patterns that correspond to logos, marks or specialsymbols. The OCR is assessed 512 by quality measures from the OCR moduleand by the match of the words against a dictionary, and grammar rules.

The reading machine determines if the text detection was satisfactory.If the text detection quality is satisfactory, the device starts reading514 to the user using text-to-speech (TTS) software. The reading to theuser can incorporate auditory cues that indicate transitions such asfont changes and paragraph or column transitions. The auditory cues canbe tones or words.

While reading the text to the user, the device continues to process 516other available regions of the image. In general, text-to-speechprocessing is not as computationally intensive as OCR processing andvisual pattern recognition, so CPU processing is available foradditional image processing. If there are no additional regionsavailable, the process 500 exits 520.

If the text detection quality is not good, the region may be reprocessed530 to produce an image that may yield better optical characterrecognition. The processing may include strategies such as usingalternate filters, including non-linear filters such as erosion anddilation filters. Other alternative processing strategies include usingalternate threshold levels for binary images and alternate mapping ofcolors to grayscale levels.

If the result of the quality check indicates that text has been cut offat the boundaries of the region, the adjacent region is processed 532.The device tries to perform text stitching to join the text of the tworegions. If it fails, the user is notified 534. If text stitching issuccessful, the contents of the regions are combined.

If the device fails to find readable text in a region, the user isnotified and allowed to select other regions. The device gives the usera guess as to why reading failed. This may include, inadequate lighting,bad angle or position of the camera, excessive distance from thedocument or blurring due to excessive motion.

Once the device starts the text-to-speech processing, the readingmachine checks to see if there are additional regions to be read. Ifthere are additional regions to be read, the reading machine selects 540the next region based on the layout model or, in the absence of a modelmatch, based on simple top-to-bottom flow of text. If no additionalregions remain to be processed, the device is finished reading.

A number of embodiments of the invention have been described. While thereading machine was described in the context for assisting the visuallyimpaired, the device is general enough that it can be very useful forsighted individuals. The device gives anyone the ability to record thetext information in a scene, but with the advantage over a digitalcamera that the text is converted by OCR immediately, giving the userconfidence that the text has been captured in computer-readable form.The device also gives the user feedback on the quality of its ability toconvert the image to computer-readable text, and may tell the user thatthe camera needs to be moved to capture the entire area of text. Oncethe text is computer-readable, and on an embodiment that is connected tothe Internet, many other uses become possible. For example, theatregoers would be able to quickly scan in all the information in a movieposter and reference movie reviews, other movies those actors have beenin, and related information.

Uses for the device by sighted individuals include the conversion totext of textual displays that cannot be easily scanned by a portablescanner, such as movie posters, billboards, historical markers,gravestones and engraved marks on buildings several stories up. Forexample, it may be advantageous to be able to quickly and easily recordall of the information on a series of historical markers.

Because of the device's ability to provide quick feedback to the userabout the quality of the OCR attempt, including specific feedback suchas lighting, text being cut off, and text being too large or too small,the device has an advantage for those situations where access time tothe text is limited.

In other embodiments, the device can automatically translate the textinto another language, and either speak the translation or display thetranslated text. Thus, it will be understood that various modificationsmay be made without departing from the spirit and scope of theinvention. Accordingly, other embodiments are within the scope of thefollowing claims.

1. A system for reading text to a user, the system comprises: a portablehandheld device including a camera and a transducer for rendering sound,the portable handheld device configure for: acquiring images through thecamera of scenes in an environment that the portable handheld deviceoperates in; sending over a communication channel, a representation ofan acquired image of a scene to an external, remote computer system anduser settings and navigation commands; and the external remote computersystem configured to: communicate with the handheld device; receive theacquired image, the user settings and the navigation commands, performoptical character recognition processing on the acquired image inaccordance with the user settings; send to the handheld device resultsof the optical character recognition processing, the results sent inaccordance with the navigation commands, which control how the external,remote computer system processes the results of optical characterrecognition processing of the acquired image; the portable handhelddevice further configured to: render speech corresponding to recognizedtext through the transducer of the portable handheld device.
 2. Thesystem of claim 1 wherein the handheld device has mobile phonecapability and the user settings include a phone number corresponding tothe handheld device; and the external remote system is configured to:initiate a call to the handheld device and send the recognized textaccording the navigation commands as speech in the initiated call, andthe portable device renders the recognized text directly as the speechthrough the transducer.
 3. The system of claim 1 wherein the portablehandheld device is configured to: receive a text file of recognized textaccording to the processing based on the navigation commands; processthe text file with text-to-speech processing; render the text as speechthrough the transducer.
 4. The system of claim 1 wherein the externalremote computer system is configured to: process the image to producethe results of the optical character recognition as a text file with thenavigation commands comprising a model of a document captured in theimage, the model specifying the order in which recognized sections ofthe document are returned as text to the user; send the text file to thehandheld device: and the handheld device performs text-to-speechprocessing on the text file to render the speech.
 5. The system of claim1 wherein the external remote computer system is further configured to:send the results of the optical character recognition to text-to-speechprocessing in the external remote computer to produce based on thenavigation commands a speech file that is sent to the handheld device.6. The system of claim 1 wherein the user input device is a keypad onthe handheld device.
 7. The system of claim 6 wherein the handhelddevice is a telephone and the user settings include a phone numbercorresponding to the handheld device; and the handheld device is furtherconfigured to: receive from the remote, external computing system sendsa text file of the results as speech signals.
 8. The system of claim 1wherein the camera in the handheld device acquires a low resolutionimage to determine the orientation of the camera relative to text or todetermine whether the edges of a page are cut off from the field of viewof the camera, with the handheld device processing the low resolutionimages and instructing the user to re-orientate the handheld deviceprior to sending the acquired image.
 9. The system of claim 1 whereinthe portable device comprises a voice recognition engine and with theuser settings are inputted by a user through the voice recognitionengine.
 10. The system of claim 1 wherein the handheld device includes akeypad and wherein the user settings and navigation commands areinputted by a user using the keypad on the handheld device.
 11. Thesystem of claim 1 wherein the handheld device is a telephone and theexternal remote computer system sends a text file of the resultsprocessed according to the navigation commands to a text to speechengine in the computer system that converts the text to speech signalsand sends the speech signals as a phone call to the telephone.
 12. Ahandheld device comprises: an image input device capable of acquiringimages; a user input device for inputting commands; a transducer forrendering sound; and a processing unit comprising: a processor device;and memory, the processing unit configured to: send a representation ofan acquired image along with user settings to an external, remotecomputing system that performs optical character recognition processingon the acquired image to recognize text in the acquired image, the usersettings and navigation commands inputted by a user from the user inputdevice, the navigation commands to control sending of results of theoptical character recognition processing by the external remote system;and circuitry to receive from the external remote computing system theresults based on the processing of the image by the external remotecomputing system with the results in accordance with the navigationcommands, the results being a representation of recognized text in theimage that when rendered by the handheld device through the transducerprovides speech corresponding to recognized text in the acquired imageaccording to the user navigation commands.
 13. The handheld device ofclaim 12 wherein the handheld device includes a mobile phone and theuser settings include a phone number corresponding to the handhelddevice; and the handheld device is configured to: receive a callinitiated from the remote, external computing system; and render therecognized text directly as the speech through the transducer.
 14. Thehandheld device of claim 12 wherein the portable handheld device isconfigured to: receive a text file of recognized text according to theprocessing based on the navigation commands; process the text file withtext-to-speech processing; render the text as speech through thetransducer.
 15. The handheld device of claim 12 wherein the handhelddevice is configured to: receive a text file produced by the external,remote computing system in accordance with the navigation commands; andperform text-to-speech processing on the received text file.
 16. Thehandheld device of claim 12 wherein the handheld device is configuredto: receive from the remote, external computing system the results as aspeech file.
 17. The handheld device of claim 12 wherein the image inputdevice is a camera that acquires a low resolution image to determine theorientation of the camera relative to text or to determine whether theedges of a page are cut off from the field of view of the camera, withthe handheld device processing the low resolution images and instructingthe user to re-orientate the handheld device prior to sending theacquired image.
 18. The handheld device of claim 12 wherein the usersettings further include mode commands inputted by a user to control amode of operation of the handheld device.
 19. A portable handheld devicecomprising: a processing unit; a transducer for rendering sound; acamera for capturing images; the processing unit configured to: acquireimage data from the camera, the image data of scenes of an environmentthat the portable handheld device operates in; acquire user settings andnavigation commands; send over a communication channel a representationof an acquired image and the user settings and navigation commands to aremote external computer system; receive a text file from the remoteexternal computer system, the text file including text provided fromperforming optical character recognition processing on the acquiredimage by the remote external computing system, with the text file havingthe recognized text receive by the device based on the navigationcommands that control how the remote external computer system processesthe results of the optical character recognition processing of theacquired image; and produce speech signals to render the text file asspeech, through the transducer.
 20. The device of claim 19 wherein thehandheld device has mobile phone capability; and the computing deviceinitiates a call to the handheld device to render the recognized textfile directly as the speech through the transducer.
 21. The device ofclaim 19 wherein the processing unit in the portable handheld device isfurther configured to: produce a speech file by applying the receivedtext file to a text to speech processing engine in the portable handhelddevice; and render the produced speech file as speech through thetransducer.
 22. The device of claim 19 further comprising: a tactilefeedback output device; and the processor is configured to render thespeech as tactile sensations imparted to a user through the tactilefeedback output device.